version: 66.01
glider: 111
mission: 1
dive: 13
start: 7 21 107 22 42 4
data:
$ID,111
$MISSION,1
$DIVE,13
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,200
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,330
$T_MISSION,360
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-3
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,160
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51939
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,47.599998
$TGT_DEFAULT_LON,-122.3
$TGT_AUTO_DEFAULT,0
$SM_CC,375
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-90906.219
$T_RSLEEP,5
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,722
$PITCH_MAX,3310
$C_PITCH,2110
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,120
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,171
$ROLL_MAX,3808
$C_ROLL_DIVE,2700
$C_ROLL_CLIMB,2950
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,32
$R_STBD_OVSHOOT,31
$ROLL_AD_RATE,375
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,599
$VBD_MAX,3942
$C_VBD,2300
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0020000001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-2.5243471
$PRESSURE_SLOPE,9.0714857e-05
$AD7714Ch0Gain,64
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,8
$ALTIM_SENSITIVITY,4
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,0
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043273787
$SEABIRD_T_H,0.0006414231
$SEABIRD_T_I,2.3931538e-05
$SEABIRD_T_J,2.340664e-06
$SEABIRD_C_G,-10.258962
$SEABIRD_C_H,1.1819305
$SEABIRD_C_I,-0.0037964056
$SEABIRD_C_J,0.00031207138
$GPS1,222808,3643.004,-12204.051,33,1.2,33,14.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-50.9
$GPS2,224051,3642.712,-12203.955,14,1.4,14,14.8
$SPEED_LIMITS,0.173,0.267
$TGT_NAME,ONE
$TGT_LATLONG,3644.000,-12205.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.087,0.253
$KALMAN_X,13820.8,-480.9,-322.3,-19640.5,4655.2
$KALMAN_Y,-32979.4,2392.4,654.1,22669.4,-14860.6
$MHEAD_RNG_PITCHd_Wd,267.2,2845,-24.7,-10.000
$D_GRID,1389
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,26,-1.80,-76.1,0.0,0.0,0,91,0.00,0.00,-62.80,0.000,2,0.000,0.000,718,2706,2447
$GC,94,-1.84,-93.9,3.7,-8.4,9,115,7.00,1.98,-5.40,0.000,4,0.251,0.069,1703,3788,2686
$GC,368,-1.84,-93.9,75.5,-25.6,57,375,0.00,1.90,0.00,0.000,6,0.000,0.044,1703,2707,2689
$GC,713,-1.84,-93.9,159.6,-24.3,118,720,0.00,1.92,0.00,0.000,4,0.000,0.049,1703,3788,2689
$GC,765,-1.84,-93.9,172.2,-24.1,127,772,0.00,1.90,0.00,0.000,6,0.000,0.047,1703,2698,2690
$GC,1103,-1.84,-93.9,250.0,-22.4,169,1104,0.00,0.00,0.00,0.000,6,0.000,0.000,1703,2698,2690
$GC,1421,-1.84,-93.9,323.1,-22.9,199,1426,0.00,2.53,0.00,0.000,4,0.000,0.058,1703,1294,2689
$GC,1461,-1.84,-93.9,332.5,-24.7,202,1465,0.00,2.40,0.00,0.000,6,0.000,0.029,1702,2712,2690
$GC,1787,-1.84,-93.9,405.8,-22.2,232,1790,0.00,1.92,0.00,0.000,4,0.000,0.062,1702,3778,2689
$GC,1922,-1.84,-93.9,435.6,-21.0,244,1925,0.00,1.95,0.00,0.000,6,0.000,0.061,1703,2697,2689
$GC,2254,-1.84,-93.9,505.8,-20.9,274,2255,0.00,0.00,0.00,0.000,6,0.000,0.000,1703,2696,2689
$GC,2560,-1.84,-93.9,572.1,-20.8,289,2565,0.00,2.62,0.00,0.000,4,0.000,0.074,1703,1291,2689
$GC,2592,-1.84,-93.9,579.4,-22.2,290,2600,0.00,2.40,0.00,0.000,6,0.000,0.033,1703,2686,2688
$GC,2908,-1.84,-93.9,644.7,-21.7,306,2909,0.00,0.00,0.00,0.000,6,0.000,0.000,1703,2686,2688
$GC,3217,-1.84,-93.9,710.2,-21.2,321,3221,0.00,2.15,0.00,0.000,4,0.000,0.097,1703,3790,2687
$GC,3272,-1.84,-93.9,722.6,-21.6,323,3277,0.00,2.15,0.00,0.000,6,0.000,0.103,1703,2718,2688
$GC,3594,-1.84,-93.9,790.3,-21.1,339,3599,0.00,2.70,0.00,0.000,4,0.000,0.080,1703,1282,2686
$GC,3615,-1.84,-93.9,795.3,-21.3,340,3620,0.00,2.47,0.00,0.000,6,0.000,0.038,1703,2697,2686
$GC,3943,-1.84,-93.9,861.9,-20.2,356,3947,0.00,2.20,0.00,0.000,4,0.000,0.111,1703,3799,2686
$GC,4009,-1.84,-93.9,875.3,-19.4,359,4013,0.00,2.28,0.00,0.000,6,0.000,0.116,1703,2701,2685
$GC,4336,-1.84,-93.9,937.3,-18.7,375,4340,0.00,2.67,0.00,0.000,4,0.000,0.081,1702,1283,2685
$GC,4363,-1.84,-93.9,942.7,-20.3,376,4368,0.00,2.50,0.00,0.000,6,0.000,0.040,1703,2700,2684
$STATE,4615,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4615,begin apogee
$GC,4620,-0.33,0.0,991.9,19.8,388,4707,2.03,0.00,82.15,1.356,6,0.201,0.000,2030,2949,2300
$STATE,4708,end apogee,CONTROL_FINISHED_OK
$STATE,4708,begin climb
$GC,4710,1.84,93.9,997.1,0.0,392,4801,2.40,1.83,81.07,1.325,4,0.102,0.109,2511,3803,1917
$GC,5054,1.86,104.0,977.5,9.1,407,5071,0.00,1.73,8.12,1.384,6,0.000,0.099,2511,2950,1875
$GC,5379,1.86,104.0,945.1,10.4,423,5382,0.00,1.70,0.00,0.000,4,0.000,0.100,2510,3799,1875
$GC,5636,1.86,104.0,917.4,10.6,434,5640,0.00,1.70,0.00,0.000,6,0.000,0.096,2511,2951,1874
$GC,5958,1.86,106.5,885.9,9.8,450,5961,0.00,1.67,0.00,0.000,4,0.000,0.097,2511,3800,1874
$GC,6215,1.90,125.8,862.5,8.3,461,6237,0.00,1.67,18.20,1.313,6,0.000,0.092,2511,2951,1787
$GC,6553,1.90,125.8,823.3,12.6,478,6556,0.00,1.70,0.00,0.000,4,0.000,0.097,2511,3805,1786
$GC,6720,1.90,125.8,802.4,12.7,485,6724,0.00,1.67,0.00,0.000,6,0.000,0.089,2511,2951,1785
$GC,7043,1.90,125.8,766.6,11.0,501,7048,0.00,2.65,0.00,0.000,4,0.000,0.074,2511,1534,1785
$GC,7301,1.90,125.8,739.8,10.3,512,7308,0.00,2.53,0.00,0.000,6,0.000,0.042,2511,2959,1785
$GC,7618,1.92,134.2,709.0,9.3,528,7629,0.00,1.70,6.65,1.285,4,0.000,0.093,2511,3797,1752
$GC,7882,1.92,134.2,679.2,11.1,540,7886,0.00,1.62,0.00,0.000,6,0.000,0.079,2511,2940,1752
$GC,8214,1.92,134.2,643.9,10.4,556,8218,0.00,1.65,0.00,0.000,4,0.000,0.084,2511,3798,1751
$GC,8471,1.92,134.2,613.7,11.8,567,8476,0.00,1.60,0.00,0.000,6,0.000,0.071,2511,2947,1752
$GC,8793,1.92,134.2,579.1,10.6,583,8797,0.00,1.60,0.00,0.000,4,0.000,0.079,2511,3796,1752
$GC,9050,1.92,135.6,552.2,9.9,594,9054,0.00,1.55,0.00,0.000,6,0.000,0.063,2511,2951,1751
$GC,9372,1.92,135.6,520.6,10.0,610,9376,0.00,2.60,0.00,0.000,4,0.000,0.067,2511,1536,1751
$GC,9628,1.92,135.6,494.5,10.4,623,9636,0.00,2.47,0.00,0.000,6,0.000,0.038,2511,2959,1752
$GC,9955,1.92,138.5,461.9,9.7,654,9967,0.00,2.62,3.12,1.180,4,0.000,0.058,2511,1542,1735
$GC,10070,1.92,138.5,450.0,11.1,664,10075,0.00,2.45,0.00,0.000,6,0.000,0.038,2511,2951,1735
$GC,10396,1.96,155.2,419.5,8.5,694,10419,0.12,1.60,13.43,1.032,4,0.093,0.060,2535,3788,1667
$GC,10671,1.96,155.2,389.1,11.3,718,10679,0.00,1.45,0.00,0.000,6,0.000,0.035,2534,2944,1667
$GC,10998,1.96,155.2,352.2,11.7,749,11002,0.00,1.55,0.00,0.000,4,0.000,0.056,2535,3786,1667
$GC,11256,1.96,155.2,322.1,12.4,772,11260,0.00,1.45,0.00,0.000,6,0.000,0.034,2535,2948,1667
$GC,11589,1.96,155.2,286.7,10.9,803,11593,0.00,2.50,0.00,0.000,4,0.000,0.054,2535,1551,1667
$GC,11846,1.96,155.2,256.4,11.2,825,11853,0.00,2.40,0.00,0.000,6,0.000,0.035,2535,2952,1667
$GC,12172,1.97,161.0,223.5,9.5,856,12185,0.00,2.53,4.75,0.960,4,0.000,0.051,2535,1553,1643
$GC,12201,1.97,161.0,220.3,10.3,858,12208,0.00,2.42,0.00,0.000,6,0.000,0.034,2535,2955,1642
$GC,12533,1.97,161.0,185.5,11.8,901,12540,0.00,1.50,0.00,0.000,4,0.000,0.054,2535,3788,1643
$GC,12792,1.97,161.0,156.7,10.7,947,12799,0.00,1.45,0.00,0.000,6,0.000,0.032,2534,2942,1643
$GC,13137,1.97,161.0,120.1,10.5,1008,13143,0.00,1.52,0.00,0.000,4,0.000,0.051,2535,3786,1643
$GC,13347,1.97,163.1,99.0,9.8,1045,13355,0.00,1.42,1.73,0.947,6,0.000,0.031,2535,2949,1634
$GC,13692,2.01,180.4,67.2,8.5,1106,13713,0.00,2.53,13.52,0.762,4,0.000,0.048,2535,1549,1563
$GC,13966,2.07,209.9,40.8,7.4,1154,13999,0.12,2.40,22.80,0.714,6,0.091,0.033,2558,2950,1443
$STATE,14323,end climb,SURFACE_DEPTH_REACHED
$STATE,14323,begin surface coast
$FINISH,0.3,1.021694
$STATE,14347,end surface coast,CONTROL_FINISHED_OK
$STATE,14347,begin surface
$SM_CCo,14364,100.60,0.640,0,0,770,375.06
$SM_GC,1.01,0.00,0.00,100.60,0.000,0.000,0.640,720,2691,770,-6.39,-0.25,375.06
$RAFOS_CLK,661
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,3629.60,-12203.74,220707,020258
$TT8_MAMPS,0.023777
$HUMID,2953
$INTERNAL_PRESSURE,7.89093
$TCM_TEMP,19.20
$XPDR_PINGS,8
$24V_AH,23.1,8.088
$10V_AH,10.1,2.417
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder
$DEVICE_SECS,20.325,106.950,255.550,100.600,0.000,80.738,61.785,399.701,2.000,16.145,2655.028,8794.958,509.310,2482.867,781.030,33.341,1718.413,0.000,2442.751,0.000,0.474
$DEVICE_MAMPS,250.809,115.817,1384.435,639.678,0.000,103.000,160.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,836.457,1001.674,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44114,1221
$CFSIZE,260165632,257433600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,26,0,0
$SOUNDSPEED,1498.7
$CURRENT,0.051,150.0,1
$GPS,220707,024452,3642.418,-12204.709,42,2.2,61,14.8